Theoretical Background

Overview

For analysis of any structure, it is modeled as a set of simple, idealized

elements connected at nodes. Analysis by direct stiffness method can be
divided into following steps.

1. Formulation of element stiffness matrix in local Coordinates ( ).

2. Formation of element transformation matrix T.

3. Transformation of element stiffness matrix in global Coordinates ( ).

4. Addition of all element stiffness matrices at pertinent DOF to form a

structural stiffness matrix (K).

5. Formation of Nodal load vector (P) in global coordinates.

6. Formation of Element load Vector ( ) in local coordinates for frames

only.

7. Transformation of Element load vector in global coordinates for frames

only.

8. Formation of Nodal displacement vector (U).

9. Solving   to get unknown displacements at unconstrained joints.

10. Making use of displacements for step 6 to get reactions at constrained

joints.

11. Transformation of global displacements to local displacements to

calculate the member forces.

Coordinate System
Global: Structure Nodes are always described in global coordinates. It
could be expressed by uppercase letters of X, Y and Z.
 Global Coordinates

Local: Element internal forces are described in the local coordinates. It is

represented by lowercase letters of x,y and z.

Local Coordinates

2D structures will be defined in X-Y plane where as 3D structures will be

defined in X-Y-Z plane.

Sign Conventions
Horizontal force is positive if directed to right side, vertical force is positive
upward and moment is positive in the counterclockwise direction as shown in
the Fig 3.3.

Sign Conventions

Degrees Of Freedom(DOF)
It is defined as an independent displacement of a node along X, Y or Z
axis.These displacements are always independent of each other.For
example a hinge support can have only one displacement (rotation
.Displacement is being used in a generalized context here as it could be
rotation as well as translation.Displacement in a structure depends upon
structure type as there could be one, two or none.

DOF in both local and global coordinate system remains same for a particular
case. But in case of trusses this is not the case as there is only one axial
deformation in local coordinates and two or three translations at each node in
2D and 3D trusses respectively. Degrees of freedom associated with each
type of element and its numbering can be summarized as shown in the Fig
(3.4)
 Typical Degrees of Freedom for various types of elements

Element Stiffness Matrix

Each element stiffness properties are calculated based on the nature of element
DOF at each node, these properties are grouped together to form an element
stiffness matrix.

Structural Stiffness Matrix

Element stiffness matrices are then augmented into a single matrix which governs
the behaviour of the entire idealized structure, known as structural stiffness matrix.
This is obtained by multiplication of element stiffness matrix to transformation matrix
as in (3.1a)

  

  
  

    

  

Load Vector 
Load vector is calculated such that known forces and Unknown reactions are
arranged as
 

 


 

 

Displacement Vector [U]

Displacement Vector is obtained by placement of unknown displacement
on the top and after that known displacements as


 


 

 

Calculation of Unknown Displacements and Reactions

Structural stiffness matrix is rearranged with respect to
unknown displacements and then partitioned with respect to unknown
and known displacements such that

   

   

    

    

Member Forces
Once the nodal displacements are known, member forces are calculated
by using the following standard equation